mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
8b58c01cd7
nsh console running on USB param module running working with i2c and common drivers provided implementation for drv_pwm_output.h i2cdetect working as expected with no device mavlink started succesfully mounts sd card and logger runs logger to file succesfully pwm_servo implemented without using Nuttx lib pwm_out outputs expected waveforms - however currently if the frequency is higher than what the pwm_out driver runs, there will be aliasing, based on how the registers gets resets wifi softap working - Seeing wifi hotspot - cant connect due to wrong password - problems with adjusting ssid and password wifi ssid and password being set accordinglu connected to wifi hotspot with dhpcd - made some changes to nuttx to only build for SoftAP mode, however this was effectivelyy removing the ifdef for STATION mode. Should investigate the coexist option again added ifdef to not use timer 0 when wifi enabled - reverted esp32 rt_timer to make use of timer 0 by default fix setting incorrect bit in hrt timer register - hrt running as expected, but on startup the pwm_out driver starts up at about 200Hz and then rises over a minute or so 250Hz. Not sure if this was present previously, and could be due to Wifi running at time priority on timer 0 pull xtensa compilers in setup.ubuntu.sh revert logger stacksize and cmake argument esp32 chip revision and PX4 UUID implemented spi board reset implemented, formatting checked devkit acts on startup as a wifi bridge for comms - the most usefull setting for the general developer when buying a esp32 devkit - testing Mavlink shell using ./Tools/mavlink_shell.py - todo: Test mavlink messages being forward improve wifi telemetry by increasing prio - Remove power save mode on wifi - increased daemon thread schedule priority to 50 compiles without Nuttx changes - updated compiler settings to match those of nuttx on px4 side add espressif_esp32 to excluded boards ci: allow docker to find xtensa compilers
248 lines
6.5 KiB
Bash
Executable File
248 lines
6.5 KiB
Bash
Executable File
#! /usr/bin/env bash
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set -e
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## Bash script to setup PX4 development environment on Ubuntu LTS (24.04, 22.04).
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## Can also be used in docker.
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##
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## Installs:
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## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
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## - NuttX toolchain (omit with arg: --no-nuttx)
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## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
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##
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INSTALL_NUTTX="true"
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INSTALL_SIM="true"
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INSTALL_ARCH=`uname -m`
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# Parse arguments
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for arg in "$@"
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do
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if [[ $arg == "--no-nuttx" ]]; then
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INSTALL_NUTTX="false"
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fi
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if [[ $arg == "--no-sim-tools" ]]; then
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INSTALL_SIM="false"
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fi
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done
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echo "[ubuntu.sh] Starting..."
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echo "[ubuntu.sh] arch: $INSTALL_ARCH"
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# detect if running in docker
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if [ "$RUNS_IN_DOCKER" = "true" ]; then
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echo "[ubuntu.sh] Running within docker, installing initial dependencies";
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apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
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ca-certificates \
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gnupg \
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gosu \
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lsb-release \
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software-properties-common \
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sudo \
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wget \
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;
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fi
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# script directory
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DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
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# check requirements.txt exists (script not run in source tree)
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REQUIREMENTS_FILE="requirements.txt"
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if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
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echo "[ubuntu.sh] FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
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return 1
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fi
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# check ubuntu version
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# otherwise warn and point to docker?
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UBUNTU_RELEASE="`lsb_release -rs`"
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echo "[ubuntu.sh] Ubuntu ${UBUNTU_RELEASE}"
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echo "[ubuntu.sh] Installing PX4 general dependencies"
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sudo apt-get update -y --quiet
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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astyle \
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build-essential \
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ccache \
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cmake \
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cppcheck \
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file \
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g++ \
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gcc \
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gdb \
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git \
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lcov \
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libssl-dev \
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libxml2-dev \
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libxml2-utils \
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make \
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ninja-build \
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python3 \
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python3-dev \
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python3-pip \
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python3-setuptools \
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python3-wheel \
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rsync \
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shellcheck \
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unzip \
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zip \
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;
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# Python3 dependencies
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echo
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echo "[ubuntu.sh] Installing PX4 Python3 dependencies"
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PYTHON_VERSION=$(python3 --version 2>&1 | awk '{print $2}')
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REQUIRED_VERSION="3.11"
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if [[ "$(printf '%s\n' "$REQUIRED_VERSION" "$PYTHON_VERSION" | sort -V | head -n1)" == "$REQUIRED_VERSION" ]]; then
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python3 -m pip install --break-system-packages -r ${DIR}/requirements.txt
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else
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if [ -n "$VIRTUAL_ENV" ]; then
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# virtual environments don't allow --user option
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python -m pip install -r ${DIR}/requirements.txt
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else
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python3 -m pip install --user -r ${DIR}/requirements.txt
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fi
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fi
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# NuttX toolchain (arm-none-eabi-gcc)
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if [[ $INSTALL_NUTTX == "true" ]]; then
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echo
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echo "[ubuntu.sh] NuttX Installing Dependencies ($INSTALL_ARCH)"
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sudo apt-get update -y --quiet
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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automake \
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binutils-dev \
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bison \
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build-essential \
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curl \
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clang \
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clang-tidy \
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clang-format \
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flex \
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gdb-multiarch \
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genromfs \
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gettext \
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gperf \
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kconfig-frontends \
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libelf-dev \
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libexpat-dev \
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libgmp-dev \
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libisl-dev \
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libmpc-dev \
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libmpfr-dev \
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libncurses-dev \
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libncurses6 \
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libncursesw6 \
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libnewlib-arm-none-eabi \
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libstdc++-arm-none-eabi-newlib \
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libtool \
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libunwind-dev \
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lldb \
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lld \
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pkg-config \
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screen \
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texinfo \
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u-boot-tools \
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util-linux \
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vim-common \
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;
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if [[ "${INSTALL_ARCH}" == "x86_64" ]]; then
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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g++-multilib \
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gcc-arm-none-eabi \
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gcc-multilib \
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esptool \
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;
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echo
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echo "Fetching Xtensa compilers"
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wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
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sudo tar -xf $DIR/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz -C /opt
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echo 'export PATH=$PATH:/opt/xtensa-esp-elf/bin/' >> /home/$USER/.bashrc
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fi
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if [[ "${INSTALL_ARCH}" == "aarch64" ]]; then
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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g++-aarch64-linux-gnu \
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g++-arm-linux-gnueabihf \
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;
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fi
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if [ -n "$USER" ]; then
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# add user to dialout group (serial port access)
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sudo usermod -aG dialout $USER
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fi
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fi
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# Simulation tools
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if [[ $INSTALL_SIM == "true" ]]; then
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echo
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echo "[ubuntu.sh] Installing PX4 simulation dependencies"
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# General simulation dependencies
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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bc \
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;
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# Gazebo / Gazebo classic installation
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if [[ "${UBUNTU_RELEASE}" == "18.04" || "${UBUNTU_RELEASE}" == "20.04" ]]; then
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sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
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wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
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# Update list, since new gazebo-stable.list has been added
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sudo apt-get update -y --quiet
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# Install Gazebo classic
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if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
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gazebo_classic_version=9
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gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
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else
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# default and Ubuntu 20.04
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gazebo_classic_version=11
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gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
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fi
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else
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# Expects Ubuntu 22.04 > by default
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echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
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echo "[ubuntu.sh] Earlier versions will be removed"
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# Add Gazebo binary repository
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sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
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sudo apt-get update -y --quiet
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# Install Gazebo
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gazebo_packages="gz-harmonic libunwind-dev"
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if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
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gazebo_packages="$gazebo_packages cppzmq-dev"
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fi
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fi
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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dmidecode \
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$gazebo_packages \
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gstreamer1.0-plugins-bad \
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gstreamer1.0-plugins-base \
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gstreamer1.0-plugins-good \
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gstreamer1.0-plugins-ugly \
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gstreamer1.0-libav \
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libeigen3-dev \
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libgstreamer-plugins-base1.0-dev \
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libimage-exiftool-perl \
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libopencv-dev \
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libxml2-utils \
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pkg-config \
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protobuf-compiler \
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;
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if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
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# fix VMWare 3D graphics acceleration for gazebo
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echo "export SVGA_VGPU10=0" >> ~/.profile
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fi
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fi
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